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Most telemanipulation systems for aerial robots provide the operator with only 2D screen visual information. The lack of richer information about the robot's status and environment can limit human awareness and, in turn, task performance.…
Validating Augmented Reality (AR) tracking and interaction models requires precise, repeatable ground-truth motion. However, human users cannot reliably perform consistent motion due to biomechanical variability. Robotic manipulators are…
Autonomous or teleoperated robots have been playing increasingly important roles in civil applications in recent years. Across the different civil domains where robots can support human operators, one of the areas where they can have more…
Retargeting human motion to robot poses is a practical approach for teleoperating bimanual humanoid robot arms, but existing methods can be suboptimal and slow, often causing undesirable motion or latency. This is due to optimizing to match…
Teleoperation for contact-rich manipulation remains challenging, especially when using low-cost, motion-only interfaces that provide no haptic feedback. Virtual reality controllers enable intuitive motion control but do not allow operators…
Teleoperation is a cornerstone of embodied-robot learning, and bimanual dexterous teleoperation in particular provides rich demonstrations that are difficult to obtain with fully autonomous systems. While recent studies have proposed…
Robot teleoperation systems face a common set of challenges including latency, low-dimensional user commands, and asymmetric control inputs. User control with Brain-Computer Interfaces (BCIs) exacerbates these problems through especially…
In this paper, we present a way of enforcing safety and passivity properties of robot teleoperation systems, where a human operator interacts with a dynamical system modeling the robot. The approach does so in a holistic fashion, by…
Variable stiffness actuators undergo lower peak force in contacts compared to their rigid counterparts, and are thus safer for human-robot interaction. Furthermore, they can store energy in their elastic element and can release it later to…
Teleoperation is essential for autonomous robot learning, especially in manipulation tasks that require human demonstrations or corrections. However, most existing systems only offer unilateral robot control and lack the ability to…
Medical robotics can help improve and extend the reach of healthcare services. A major challenge for medical robots is the complex physical interaction between the robot and the patients which is required to be safe. This work presents the…
Telepresence robots can be used to support users to navigate an environment remotely and share the visiting experience with their social partners. Although such systems allow users to see and hear the remote environment and communicate with…
We present ChameleonControl, a real-human teleoperation system for scalable remote instruction in hands-on classrooms. In contrast to existing video or AR/VR-based remote hands-on education, ChameleonControl uses a real human as a surrogate…
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…
Bimanual handovers are crucial for transferring large, deformable or delicate objects. This paper proposes a framework for generating kinematically constrained human-like bimanual robot motions to ensure seamless and natural robot-to-human…
The operation of telerobotic systems can be a challenging task, requiring intuitive and efficient interfaces to enable inexperienced users to attain a high level of proficiency. Body-Machine Interfaces (BoMI) represent a promising…
Robotic non-destructive disassembly of mating parts remains challenging due to the need for flexible manipulation and the limited visibility of internal structures. This study presents an affordance-guided teleoperation system that enables…
Achieving human-like dexterous manipulation remains a major challenge for general-purpose robots. While Vision-Language-Action (VLA) models show potential in learning skills from demonstrations, their scalability is limited by scarce…
Across the robotics field, quality demonstrations are an integral part of many control pipelines. However, collecting high-quality demonstration trajectories remains time-consuming and difficult, often resulting in the number of…
Robot learning empowers the robot system with human brain-like intelligence to autonomously acquire and adapt skills through experience, enhancing flexibility and adaptability in various environments. Aimed at achieving a similar level of…